Combine first 9 ingredients; shape into 1-inch balls.
Brown meatballs in a large skillet over medium heat; drain. Wipe skillet clean with a paper towel.
Add tomato sauce and vegetable juice to skillet. Cook over medium heat, stirring often, 5 minutes. Return meatballs to skillet; cover and cook, stirring occasionally, 15 minutes or until meatballs are no longer pink. Spoon over rolls.